U-006

Planar Two-Link Manipulator Control with Multiple Synapse Neural
Controller

Authors: Benedito Dias Baptista F.* and Eduardo Lobo Lustosa Cabral **
Affiliation: *Instituto de Pesquisas Energéticas e Nucleares IPEN-CNEN/SP - Brazil, and **Escola Politécnica da Universidade de São Paulo, Brazil

Abstract
This work presents the position control of a robot manipulator using a new artificial neural network. This neural network is based on a new neuron model with multi-ple synapses. The synapses‚ connective strengths are modi-fied through a selective and cumulative process that resem-bles an unsupervised learning method. These new concepts applied to the position control of the planar two-link ma-nipulator show excellent results.

Eduardo Lobo Lustosa Cabral
elcabral@usp.br

Benedito Dias Baptista F.
bdbfilho@net.ipen.br